EP3867157B1 - Device and method for collating and loading articles - Google Patents

Device and method for collating and loading articles Download PDF

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Publication number
EP3867157B1
EP3867157B1 EP19794913.4A EP19794913A EP3867157B1 EP 3867157 B1 EP3867157 B1 EP 3867157B1 EP 19794913 A EP19794913 A EP 19794913A EP 3867157 B1 EP3867157 B1 EP 3867157B1
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EP
European Patent Office
Prior art keywords
flexible strip
articles
wall
items
container
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EP19794913.4A
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German (de)
French (fr)
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EP3867157A1 (en
EP3867157C0 (en
Inventor
Jacky PETERLINI
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Individual
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Individual
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/06—Packaging groups of articles, the groups being treated as single articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B2220/00—Specific aspects of the packaging operation
    • B65B2220/14—Adding more than one type of material or article to the same package

Definitions

  • the present invention relates to a device for gathering and unloading articles in a carton, as well as its method of implementation.
  • the items to be packaged in a box are positioned manually by an operator.
  • the operator determines either the size of carton to use by an approximate determination of the volume of the articles to be packaged, or on the basis of information communicated to him by a central control unit, which informs you of the size of the box to select according to the volume of your order.
  • a device for gathering and unloading articles is also known, using a movable wall to unload articles into a carton.
  • grippers is limited to articles of regular shapes, and is generally not suitable for articles particularly sold by e-commerce platforms which can be of very variable shapes and dimensions from one article to another. 'other.
  • the sum of the volumes of the articles in an order which includes consumer goods or foodstuffs, cannot correspond to a volume of a box selected by the sum of the aforementioned volumes, only if the articles are stored manually by a conscientious operator, which represents a significant feat, especially with the required rates due to the large number of daily orders.
  • the present invention proposes a device for gathering and unloading articles which makes it possible to select a cardboard sizing in relation to the volume of articles in a previously ordered order. collected and intended to be unloaded in a box, making it possible to overcome the aforementioned disadvantages.
  • the device for gathering and unloading articles comprises a container open on its upper wall, which comprises a front wall adjacent to two side walls and a lower wall, one of the walls of which is movable and intended for unloading the articles into a carton, as well as a means for gathering the articles towards a zero reference point, in the plane of the lower wall, in the orthonormal directions 0 X and 0 Y.
  • the assembly means has variable geometry, the articles being intended to evolve and modify their trajectories according to the orthonormal directions 0 X and 0 Y towards the zero reference point, according to their respective dimensions.
  • the gathering means comprises a flexible strip.
  • At least one end of the flexible strip is connected to a means for winding the flexible strip.
  • the flexible strip is guided along at least the side walls, freely connected by guide means movable in translation along at least the side walls.
  • the winding means is movable at least along the front wall.
  • the winding means is a torque-controlled motor.
  • each of the ends of the flexible strip is connected to a winding means.
  • the guiding means are linear motors.
  • the movable wall is the front wall.
  • the lower wall comprises a drive means intended to contribute to the movement of the articles.
  • the device (1) for gathering and unloading articles comprises a container (2) comprising a movable wall and equipped with means for gathering articles in the direction of a zero reference point ( 0 ).
  • the device (1) allows the unloading of articles in a cardboard box, its dimensioning of which is determined by the volume of the articles assembled by the gathering means.
  • the container (2) is open on its upper wall so that articles can be arranged randomly in its interior space.
  • the heaviest items are positioned randomly, downstream of the interior space of the container (2), while the lightest, or even the most fragile, items are advantageously positioned upstream of the interior space, relative to the reference zero point (0).
  • the items can be of any size, shape, rigid or fragile, as long as their size is adapted to the interior space of the container (2).
  • the container (2) comprises a front wall (2a), two side walls (2b), a lower wall (2c) and advantageously a rear wall (2d), of which at least one of the walls of the container (2) is movable and intended for unloading articles into a box.
  • cardboard is used interchangeably in this description to designate a container, a box or a container in which at least one item is packaged.
  • the movable wall is the front wall (2a).
  • a cardboard box is placed facing the front wall (2a) of the container (2), its opening, for example by sliding upwards, allows the articles to be unloaded in the box by the gathering means as explained further below. detail in the remainder of the description.
  • the movable wall is the lower wall (2c)
  • a cardboard box is placed below the lower wall (2c)
  • its opening for example by lateral sliding, allows the articles to be unloaded into the cardboard, possibly assisted by the gathering means.
  • the device (1) allows the execution of two operational phases, namely a first phase of gathering the articles and a second phase of unloading.
  • the first phase of gathering the articles is carried out towards a zero reference point (0), in which the movable wall is closed, namely closing the interior space of the container (2), the articles being intended to be positioned in a constrained manner preferably against the front wall (2a) and advantageously against at least one side wall (2b).
  • the second unloading phase consists of the opening of the movable wall, the articles being intended to be conveyed outside the container (2) towards the inside of a box, by the gathering means, advantageously assisted by a training means, as explained in more detail in the remainder of the description.
  • the gathering means is intended to direct the articles from a random position in the interior space of the container (2), towards a reference zero point ( 0 ), for example one of the corners of the container (2) materialized by the junction of the front wall (2a) and one of the side walls (2b), or the center of the front wall (2a).
  • This gathering is carried out in the plane of the lower wall (2c) in the orthonormal directions 0 X and 0 Y.
  • the assembly means has variable geometry, namely that the articles are intended to evolve and modify their trajectories throughout their journey, from their random loading position towards their assembly position towards the point of collection. reference zero ( 0 ), depending on their respective dimensioning and the variation in configuration of the gathering means.
  • the gathering means comprises a flexible strip (3) advantageously guided along at least the side walls (2b) of the container (2) and advantageously the front wall (2a).
  • flexible strip (3) includes the usual terms of belt, flexible wall, net, etc.
  • the term flexible means a sufficiently flexible material, preferably a non-elastic material.
  • the device (1) in the first phase, is intended to adopt two configurations, namely a configuration awaiting loading, in which the flexible strip (3) substantially delimits the interior periphery of the container (2 ), as explained in more detail in the remainder of the description, and a configuration for gathering the articles towards the zero reference point (0).
  • a flexible strip (3) is presented as a thin parallelogram, thus comprising four edges, namely a lower edge intended to evolve at the level of the lower wall, an upper edge, and two lateral edges intended to evolve in correspondence with at least the side walls (2b) of the container (2), the heights of the side edges of which are advantageously intended to substantially coincide with those of the walls (2a, 2b, 2d) of the container (2).
  • edges being delimited by two faces, namely one interior face intended for gathering the articles, and an exterior face intended to evolve or even marry, at least in the loading position of the articles, substantially the side walls (2b), or even the rear wall (2d) of the container (2).
  • the side edges of the flexible strip (3) substantially coincide with the edges formed by the junction of the side walls (2b) and the front wall (2a) of the container (2 ), while as explained previously, the exterior face of the flexible strip (3) substantially matches the side walls (2b) and advantageously the rear wall (2d) of the container (2), the flexible strip (3) substantially delimiting the interior periphery of the container (2), at least part of the interior perimeter of the container (2), namely the parts corresponding to the side walls (2b) and advantageously the rear wall (2c).
  • At least one of the lateral ends of the flexible strip (3) is connected to a means for pulling the flexible strip (3), preferably each of the side edges is connected to a means of traction.
  • the means for pulling the flexible strip (3) is a winding means (4).
  • a winding means (4) of the flexible strip (3) is presented by a motor, advantageously with torque control.
  • the axis of rotation of the aforementioned motor is arranged perpendicular to the lower wall (2c) of the container (2) namely parallel to the edges formed by the intersections of the front wall (2a) and the side walls (2b) of the container (2).
  • the winding means (4) is a torque control motor, intended to stop the winding of the flexible strip (3) when a determined stress value is reached, in order to to avoid damaging the items when gathering towards the zero reference point ( 0 ).
  • the winding of the flexible strip (3) is carried out from the outside of the winding means (4).
  • At least one of the winding means (4) is movable in translation along at least the front wall (2a), or also a side wall (2b).
  • a winding means (4) is associated with a translation means (6) along one of the walls (2a, 2b) of the container (2).
  • the translation means (6) of the drive means (4) is a linear motor.
  • linear motor is a motor intended to cause an element to undergo translation along a determined path.
  • the upper edges of the container (2) comprise guides (7), such as slides or guide tubes intended for the movements of the translation means (6) of the winding means (4) and advantageously of the means of guidance (5), as explained in more detail in the remainder of the description, by appropriate rolling means.
  • the aforementioned guides (7) extend at least from the rear wall (2d), along the side walls (2b) and extend by a curve towards the front wall (2a), allowing the gathering means to evolve from the side walls (2b) to the front wall (2a) and vice versa.
  • the lower edges of the container (2) also comprise guides (7) as mentioned above, the winding means (4) and advantageously the guide means (5), being split in opposition to the flexible strip (3).
  • two means are fixed winding (4) in opposition, and advantageously as many guiding means (5) as necessary, at the levels of the upper and lower edges of the flexible strip (3).
  • the container (2) comprises at least one means of guiding (5) the flexible strip (3) intended to move along at least one side wall (2) and advantageously along the front wall (2a) of the container (2).
  • the guide means (5) are connected to a wall (2a, 2b) of the container (2) and are movable in translation at least along the wall (2a, 2b) to which the means guide (5) is connected.
  • a guide means (5) holds the flexible strip (3) at its connection to the guide means (5), along the wall (2a, 2b) to which the guide means (5) is connected.
  • a guide means (5) is presented by a first part (5a) for connection to the aforementioned guide (7), movable in sliding, extended by a second part (5b) for connection to the flexible strip (3), the second part (5b) being connected by a hinge to the first connection part (5a), but it could be otherwise, the second connection part (5b) being flexible.
  • the second connection part (5b) connected by a hinge to the first part (5a), allows that in the unloading position, as explained in more detail in the remainder of the description, the flexible strip (3) is parallel and closest to the front wall (2a), as illustrated in figure 2 , in order to allow the ejection of the articles outside the container (2).
  • the guide means (5) of the flexible strip (3) are carried by a second set of guides arranged above the guides (7) of at least one winding means (4) .
  • This configuration also allows that in the unloading position, the flexible strip (3) can be positioned parallel and as close as possible to the front wall (2a).
  • the guide means (5) is a passive system, movable according to the traction of the flexible strip (3).
  • the return to the rest position of the device (1), namely in a loading position of the container (2), is achieved by a return means.
  • a return means is a cable fixed to the rear surface of the flexible strip (3), driven by a winding means located at the rear wall (2d) of the container (2 ). The activation of the return means, in the unloading position of the container (2), causes the flexible strip (3) to unwind to the interior periphery of the container (2).
  • the guide means (5) is an active moving system, such as a linear motor.
  • the guide means (5) in the operating mode of the gathering means, is passive and is driven in translation by the traction of the flexible strip (3), but it could be otherwise, the linear motor is put into operation to contribute to the movement of the flexible belt (3) in order to gather the articles in the direction from the reference zero point ( 0 ), while the return to the rest position of the device (1) is achieved by putting the guide means (5) into operation in order to reposition the flexible strip (3) in the position of rest of the device (1), waiting for loading.
  • an active guiding means (5) allows a high rate of loading and unloading of articles.
  • the device (1) does not include guide means (5) of the flexible strip (3).
  • the flexible strip (3) is sufficiently rigid so that the unwinding of the flexible strip (3) by the winding means (4), allows the flexible strip (3) to return to its position waiting for loading, namely that the flexible strip (3) can substantially adopt the interior periphery of the container (2).
  • the device (1) which does not comprise guide means (5), also comprises a means for returning the flexible strip (3), as explained previously, contributing to the return of the device (1) in the rest position waiting for loading.
  • the lower wall (2c) is provided with a drive means, not shown, intended to contribute to the movement of the articles in the direction of the front wall (2a), in order to facilitate the gathering of the articles in the direction from the zero reference point (0) and contribute to the unloading of the articles when one of the walls (2a, 2c) of the container (2) is open facing a box.
  • the drive means is a belt or roller conveyor, driving the articles unidirectionally towards the front wall (2a) of the container (2).
  • the device (1) comprises two winding means (4) each arranged at the ends of the flexible strip (3) and two guide means (5).
  • At least one of the winding means (4) is movable in translation along the front wall (2a) and advantageously also along a side wall (2b).
  • one of the two winding means (4) is movable in translation along at least the front wall (2a), while the other is fixed in translation and located at the intersection of the front wall (2a) with one of the side walls (2b).
  • the device (1) comprises a winding means (4) movable in translation and two guide means (5), while one end of the flexible strip (3) is fixed at one of the intersections of the front wall (2a) with one of the side walls (2b).
  • the device (1) comprises a winding means (4) fixed at one of the intersections of the front wall (2a) with one of the side walls (2b), while the other end of the flexible strip (3) is connected to an active guide means (5).
  • the device (1) comprises two winding means (4) each arranged at the ends of the flexible strip (3).
  • the winding means (4) are movable in translation along the front wall (2a) and advantageously also along a side wall (2b).
  • the device (1) includes a unit for measuring and processing the spacings of the different elements constituting it.
  • the device (1) is intended to determine a cardboard size corresponding to the space occupied by the articles collected in the direction of the zero reference point ( 0 ).
  • the movable wall is the front wall (2a), once the articles are gathered in the direction of the zero reference point ( 0 ), the volume of the articles gathered is determined as explained in more detail. in the remainder of the description.
  • a box, having a dimension corresponding to the volume of the items collected, is positioned on one of its blanks facing the front wall (2a). The front wall is then opened, for unloading the items into the box.
  • the space occupied by the articles gathered in the direction of the zero reference point ( 0 ) can be determined by the spacing of the two ends of the flexible strip (3) thus corresponding to the length of the cardboard, the spacing most large between one end of the flexible strip (3) and a guide means (5) along a side wall (2a), thus corresponds to the height or depth of the cardboard, while the width of the cardboard is determined by the greater height of the items to be collected.
  • the greatest height of the items to be collected can be determined by an appropriate sensor, commonly used in the field of mechatronics, such as a distance sensor.
  • the length of the cardboard is determined by the spacing of the ends of the flexible strip (3), namely the spacings of the two winding means (4) along the front wall (2a), while the height of the cardboard is determined by the spacing between the end of the flexible strip (3) and the guide means (5), both located on a side wall (2b).
  • a winding means (4) and the guide means (5) arranged in correspondence are adjacent and located at the level of the front wall (2a), while the second winding means ( 4) is located at the intersection of the front wall (2a) and the side wall (2b) arranged in correspondence.
  • the length of the cardboard is determined by the ends of the flexible strip (3) which are located at the intersections of the front face (2a) with the side walls (2b), while the height of the cardboard is determined by the greatest spacing between one end of the flexible strip (3) and a guide means (5) both located on the same side wall (2b).
  • the movable wall is the lower wall (2c), once the articles have been collected in the direction of the zero reference point ( 0 ), in view of the determination of the volume of the articles collected, a cardboard , having a dimension corresponding to the volume of the articles collected, is positioned below the bottom wall (2c).
  • the height of the carton is determined by the greatest height of the articles, the length is determined by the spacing of the ends of the flexible strip (3), and the width of the carton is determined by the greatest spacing between one end of the flexible strip (3) and a guide means (5) both located on the same side wall (2b).
  • the dimensions of the cardboard to be positioned are determined by distance sensors, for example located at the level of the side walls (2b) and advantageously at the level of the rear wall (2c), or even at the level of the rear wall (2c). the plumbness of the device (1), in order to determine the volume of the articles collected by the gathering means.
  • the unloading of the articles in a carton is carried out by blocking the translation of the winding means (4), tensioning the flexible strip (3) and maximum winding of the flexible strip (3), which drives the articles in the carton by the open wall of the container (2), possibly assisted by the drive means.
  • the flexible strip (3) is wound until it is stretched between the winding means (4) or between a means of winding (4) and a junction of the front wall (2a) and a side wall (2b), arranged in opposition to the aforementioned winding means (4).
  • the invention also relates to a method of gathering and unloading articles, by a device (1) comprising a container (2) open on its upper wall, comprising a front wall (2a), adjacent to two side walls ( 2b) and a lower wall (2c), one of the walls of which is movable, intended for unloading the articles into a carton.
  • the device (1) comprises a flexible strip (3) connected at least one of its lateral ends to a winding means (4) guided along at least the front wall (2a).
  • the flexible strip (3) can adopt at least two positions, namely a position waiting for loading, the flexible strip (3) being located substantially at the inner periphery of the container (2), and a position for gathering the articles. , in which its lateral ends are located along the front wall (2a), the articles being gathered under stress against its interior surface.
  • the movable wall is the front wall (2a), the lateral ends of the flexible strip (3) being positioned along the front wall (2a) prior to the opening of the front wall (2a). mobile.
  • the movable wall is the lower wall (2c).
  • a cardboard box is positioned opposite the movable wall, the dimensioning of the box being selected according to the volume of the articles gathered by the flexible strip (3).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Details Of Rigid Or Semi-Rigid Containers (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Basic Packing Technique (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Cartons (AREA)

Description

La présente invention concerne un dispositif de rassemblement et de déchargement d'articles dans un carton, ainsi que son procédé de mise en oeuvre.The present invention relates to a device for gathering and unloading articles in a carton, as well as its method of implementation.

Usuellement, les articles à empaqueter dans un carton sont positionnés manuellement par un opérateur.Usually, the items to be packaged in a box are positioned manually by an operator.

Au vu de la mise en carton, l'opérateur détermine soit la taille de carton à utiliser par une détermination approximative du volume des articles à empaqueter, soit sur la base d'informations qui lui sont communiquées par une centrale de commande, qui l'informe de la taille du carton à sélectionner selon le volume de sa commande.In view of the cartoning, the operator determines either the size of carton to use by an approximate determination of the volume of the articles to be packaged, or on the basis of information communicated to him by a central control unit, which informs you of the size of the box to select according to the volume of your order.

Cette dernière possibilité, facilite la tâche des opérateurs, optimise les tailles de carton selon le volume global des commandes et améliore la productivité. Cette détermination préalable de la taille des cartons à utiliser ne résout pas la problématique que selon les différents volumes des articles, l'opérateur doit déterminer l'organisation des articles à empaqueter selon leur volume, dans un carton qui a été sélectionné par la centrale de commande selon le volume global des articles à empaqueter.This last possibility makes the task of operators easier, optimizes box sizes according to the overall volume of orders and improves productivity. This prior determination of the size of the boxes to be used does not resolve the problem that depending on the different volumes of the articles, the operator must determine the organization of the articles to be packaged according to their volume, in a box which has been selected by the central packaging. order according to the overall volume of items to be packaged.

Il est également connu, d'empaqueter de manière automatique un nombre déterminé de paquets, ayant une même dimension, de forme parallélépipédique dans un carton, à l'aide d'un préhenseur, afin de former des couches d'emballage constituées d'un nombre prédéterminé d'articles selon un arrangement prédéterminé.It is also known to automatically package a determined number of packages, having the same dimension, of parallelepiped shape in a cardboard, using a gripper, in order to form packaging layers consisting of a predetermined number of items in a predetermined arrangement.

Il est également largement répandu, des systèmes d'empaquetage permettant d'optimiser le rangement de paquets de forme parallélépipédique, mais de volumes différents, dans un carton ou sur une palette, à l'aide d'un préhenseur qui va sélectionner selon les différentes possibilités logiques un arrangement particulier permettant de positionner un maximum de paquets dans le container final.It is also widely used, packaging systems making it possible to optimize the storage of parallelepiped-shaped packages, but of different volumes, in a box or on a pallet, using a gripper which will select according to the different logical possibilities an arrangement particular allowing a maximum of packages to be positioned in the final container.

Selon GB 2 196 596 A , il est également connu un dispositif de rassemblement et de déchargement d'articles, utilisant une parois mobile pour décharger des articles dans un carton.According to GB 2 196 596 A , a device for gathering and unloading articles is also known, using a movable wall to unload articles into a carton.

Cependant l'utilisation de préhenseur est limitée à des articles de formes régulières, et n'est en général pas adaptée aux articles notamment vendus par les plateformes de e-commerce qui peuvent être de formes et de dimensions très variables d'un article à l'autre.However, the use of grippers is limited to articles of regular shapes, and is generally not suitable for articles particularly sold by e-commerce platforms which can be of very variable shapes and dimensions from one article to another. 'other.

Dernièrement, des plateformes de vente en ligne de denrées alimentaires, qui sont livrées par les voies postales courantes, se sont développées. Ces denrées alimentaires ont à fortiori une diversité de forme et de volume qui ne peuvent pas être pris en charge par les systèmes automatiques d'empaquetage conventionnels. Ces denrées alimentaires ont également une fragilité qui nécessite des précautions particulières de manipulation.Recently, online food sales platforms, which are delivered via common postal channels, have developed. These foodstuffs have a fortiori a diversity of shape and volume which cannot be handled by conventional automatic packaging systems. These foodstuffs also have a fragility which requires special handling precautions.

La somme des volumes des articles d'une commande, qui comprend des biens de consommation ou des denrées alimentaires, ne peut pas correspondre à un volume d'un carton sélectionné de par la somme des volumes précités, uniquement si les articles sont rangés manuellement par un opérateur consciencieux, ce qui représente une prouesse non négligeable, surtout avec les cadences requises dues au nombre important de commandes quotidiennes.The sum of the volumes of the articles in an order, which includes consumer goods or foodstuffs, cannot correspond to a volume of a box selected by the sum of the aforementioned volumes, only if the articles are stored manually by a conscientious operator, which represents a significant feat, especially with the required rates due to the large number of daily orders.

Il semble que la seule possibilité raisonnable pour résoudre les inconvénients précités, est le choix d'un carton de grande dimension quelque soit le type de commande, ce qui nécessite ensuite une quantité importante d'élément de calage et de rembourrage. L'utilisation systématique de cartons de grandes dimensions et d'une quantité importante d'éléments de rembourrage, ne semble pas une solution raisonnable et viable, répondant aux besoins réels des plateformes de e-commerce.It seems that the only reasonable possibility for resolving the aforementioned drawbacks is the choice of a large cardboard box whatever the type of order, which then requires a significant quantity of cushioning and padding elements. The systematic use of large cardboard boxes and a significant quantity of cushioning elements does not seem a reasonable and viable solution, meeting the real needs of e-commerce platforms.

Etant donné le volume énorme de commande des plateformes précitées, une volonté d'automatisation des étapes d'empaquetage se fait ressentir.Given the enormous order volume for the aforementioned platforms, there is a desire to automate the packaging steps.

La présente invention propose un dispositif de rassemblement et de déchargement d'articles qui permet de sélectionner un dimensionnement de carton par rapport au volume des articles d'une commande préalablement rassemblés et destinés à être déchargés dans un carton, permettant de pallier les inconvénients précités.The present invention proposes a device for gathering and unloading articles which makes it possible to select a cardboard sizing in relation to the volume of articles in a previously ordered order. collected and intended to be unloaded in a box, making it possible to overcome the aforementioned disadvantages.

Ainsi, le dispositif de rassemblement et de déchargement d'articles, selon l'invention, comprend un container ouvert sur sa paroi supérieure, qui comprend une paroi avant adjacente à deux parois latérales et une paroi inférieure, dont l'une des parois est mobile et destinée au déchargement des articles dans un carton, ainsi qu'un moyen de rassemblement des articles en direction d'un point zéro de référence, dans le plan de la paroi inférieure, dans les directions orthonormées 0X et 0Y.Thus, the device for gathering and unloading articles, according to the invention, comprises a container open on its upper wall, which comprises a front wall adjacent to two side walls and a lower wall, one of the walls of which is movable and intended for unloading the articles into a carton, as well as a means for gathering the articles towards a zero reference point, in the plane of the lower wall, in the orthonormal directions 0 X and 0 Y.

Selon un mode de réalisation, le moyen de rassemblement est à géométrie variable, les articles étant destinés à évoluer et modifier leurs trajectoires selon les directions orthonormées 0X et 0Y vers le point zéro de référence, selon leurs encombrements respectifs.According to one embodiment, the assembly means has variable geometry, the articles being intended to evolve and modify their trajectories according to the orthonormal directions 0 X and 0 Y towards the zero reference point, according to their respective dimensions.

Selon une caractéristique, le moyen de rassemblement comprend une bande flexible.According to one characteristic, the gathering means comprises a flexible strip.

Selon la caractéristique précédente, au moins une extrémité de la bande flexible est reliée à un moyen d'enroulement de la bande flexible.According to the preceding characteristic, at least one end of the flexible strip is connected to a means for winding the flexible strip.

Selon une caractéristique complémentaire, la bande flexible est guidée le long d'au moins les parois latérales, connectée librement par des moyens de guidage mobiles en translation le long d'au moins les parois latérales.According to a complementary characteristic, the flexible strip is guided along at least the side walls, freely connected by guide means movable in translation along at least the side walls.

Selon la caractéristique précédente, le moyen d'enroulement est mobile au moins le long de la paroi avant.According to the preceding characteristic, the winding means is movable at least along the front wall.

Selon un mode d'exécution, le moyen d'enroulement est un moteur à contrôle de couple.According to one embodiment, the winding means is a torque-controlled motor.

Selon un autre mode de réalisation, chacune des extrémités de la bande flexible est reliée à un moyen d'enroulement.According to another embodiment, each of the ends of the flexible strip is connected to a winding means.

Selon une caractéristique supplémentaire, les moyens de guidage sont des moteurs linéaires.According to an additional characteristic, the guiding means are linear motors.

Selon un mode d'exécution, la paroi mobile est la paroi avant.According to one embodiment, the movable wall is the front wall.

Selon une caractéristique, la paroi inférieure comprend un moyen d'entraînement destiné à contribuer au déplacement des articles.According to one characteristic, the lower wall comprises a drive means intended to contribute to the movement of the articles.

L'invention concerne également un procédé de rassemblement et de déchargement d'articles, comprenant les étapes suivantes :

  • Positionnement aléatoire d'articles dans un container ouvert sur sa paroi supérieure, comprenant une paroi avant, adjacente à deux parois latérales et une paroi inférieure, dont l'une des parois est mobile, ledit container comprenant une bande flexible,
  • Rassemblement des articles en un point zéro de référence, par l'enroulement de la bande flexible connectée à au moins une de ses extrémités à un moyen d'enroulement,
  • Détermination du dimensionnement occupé par les articles rassemblés par la bande flexible,
  • Détermination d'un dimensionnement de carton correspondant au dimensionnement occupé par les articles rassemblés,
  • Positionnement du carton en regard de la paroi mobile,
  • Ouverture de la paroi mobile,
  • Reprise de l'enroulement de la bande flexible, de telle manière à décharger les articles du container vers le carton.
The invention also relates to a method of gathering and unloading articles, comprising the following steps:
  • Random positioning of articles in a container open on its upper wall, comprising a front wall, adjacent to two side walls and a lower wall, one of the walls of which is movable, said container comprising a flexible strip,
  • Gathering of the articles at a zero reference point, by winding the flexible strip connected at least one of its ends to a winding means,
  • Determination of the dimensioning occupied by the articles gathered by the flexible belt,
  • Determination of a cardboard size corresponding to the size occupied by the collected items,
  • Positioning the cardboard next to the movable wall,
  • Opening of the movable wall,
  • Resumption of the winding of the flexible belt, in such a way as to unload the articles from the container into the cardboard.

D'autres caractéristiques et avantages de l'invention se dégageront de la description qui va suivre en regard des dessins annexés qui ne sont donnés qu'à titre d'exemples non limitatifs.Other characteristics and advantages of the invention will become apparent from the description which follows with reference to the appended drawings which are given only by way of non-limiting examples.

Les figures 1 à 7 sont des vues du dispositif de rassemblement et de déchargement d'articles, selon un mode de réalisation de l'invention.

  • [FIG.1] est une vue en perspective dans une position de rassemblement des articles.
  • [FIG.2] est une vue en perspective dans une position de déchargement des articles.
  • [FIG.3] est une vue de dessus du dispositif dans une position en attente de chargement.
  • [FIG.4] est une vue de dessus de la figure 1.
  • [FIG.5] est une vue de dessus dans une seconde position de rassemblement des articles.
  • [FIG.6] est une vue de dessus dans une troisième position de rassemblement des articles.
  • [FIG.7] est une vue de dessus de la figure 2.
  • Les figures 8 à 10 sont des vues de dessus du dispositif de rassemblement et de déchargement d'articles, selon un autre mode de réalisation de l'invention.
  • [FIG.8] est une vue dans une position en attente de chargement.
  • [FIG.9] est une vue dans une position de rassemblement des articles.
  • [FIG. 10] est une vue dans une position de déchargement des articles.
THE figures 1 to 7 are views of the device for gathering and unloading articles, according to one embodiment of the invention.
  • [ FIG.1 ] is a perspective view in a position of gathering the items.
  • [ FIG.2 ] is a perspective view in an item unloading position.
  • [ FIG.3 ] is a top view of the device in a position awaiting loading.
  • [ FIG.4 ] is a top view of the figure 1 .
  • [ FIG.5 ] is a top view in a second position for gathering the articles.
  • [ FIG.6 ] is a top view in a third position for gathering the articles.
  • [ FIG.7 ] is a top view of the figure 2 .
  • THE figures 8 to 10 are top views of the device for gathering and unloading articles, according to another embodiment of the invention.
  • [ FIG.8 ] is a view in a position waiting to load.
  • [ FIG.9 ] is a view in a position of gathering items.
  • [ FIG. 10 ] is a view in a position of unloading items.

Ainsi, le dispositif (1) de rassemblement et de déchargement d'articles selon l'invention, comprend un container (2) comprenant une paroi mobile et équipé d'un moyen de rassemblement d'articles en direction d'un point zéro de référence (0).Thus, the device (1) for gathering and unloading articles according to the invention comprises a container (2) comprising a movable wall and equipped with means for gathering articles in the direction of a zero reference point ( 0 ).

Le dispositif (1) selon l'invention permet le déchargement d'articles dans un carton, dont son dimensionnement est déterminé par le volume des articles assemblés par le moyen de rassemblement.The device (1) according to the invention allows the unloading of articles in a cardboard box, its dimensioning of which is determined by the volume of the articles assembled by the gathering means.

Le container (2) est ouvert sur sa paroi supérieure afin que des articles puissent être disposés de manière aléatoire dans son espace intérieur.The container (2) is open on its upper wall so that articles can be arranged randomly in its interior space.

De préférence, les articles les plus lourds sont positionnés de manière aléatoire, en aval de l'espace intérieur du container (2), tandis que les articles les plus légers, voire les plus fragiles sont avantageusement positionnés en amont de l'espace intérieur, par rapport au point zéro de référence (0).Preferably, the heaviest items are positioned randomly, downstream of the interior space of the container (2), while the lightest, or even the most fragile, items are advantageously positioned upstream of the interior space, relative to the reference zero point (0).

Notons que les articles peuvent être de toute taille, de toute forme, rigides ou fragiles, tant que leur dimensionnement est adapté à l'espace intérieur du container (2).Note that the items can be of any size, shape, rigid or fragile, as long as their size is adapted to the interior space of the container (2).

Précisons que le container (2) comprend une paroi avant (2a), deux parois latérales (2b), une paroi inférieure (2c) et avantageusement une paroi arrière (2d), dont au moins une des parois du container (2) est mobile et destinée au déchargement des articles dans un carton.Let us specify that the container (2) comprises a front wall (2a), two side walls (2b), a lower wall (2c) and advantageously a rear wall (2d), of which at least one of the walls of the container (2) is movable and intended for unloading articles into a box.

Il est indifféremment utilisé, dans cette description, le terme de carton (C) pour désigner un récipient, une caisse ou un contenant dans lequel est empaqueté au moins un article.The term cardboard (C) is used interchangeably in this description to designate a container, a box or a container in which at least one item is packaged.

Selon le mode de réalisation illustré, la paroi mobile est la paroi avant (2a).According to the illustrated embodiment, the movable wall is the front wall (2a).

Selon le mode de réalisation précédent, tel qu'illustré à la figure 1, un carton est disposé en regard de la paroi avant (2a) du container (2), son ouverture, par exemple par coulissement vers le haut, permet le déchargement des articles dans le carton par le moyen de rassemblement tel qu'explicité plus en détail dans la suite de la description.According to the previous embodiment, as illustrated in figure 1 , a cardboard box is placed facing the front wall (2a) of the container (2), its opening, for example by sliding upwards, allows the articles to be unloaded in the box by the gathering means as explained further below. detail in the remainder of the description.

Selon un autre mode de réalisation, non représenté, la paroi mobile est la paroi inférieure (2c), un carton est disposé en dessous de la paroi inférieure (2c), son ouverture, par exemple par coulissement latéral, permet le déchargement des articles dans le carton, éventuellement assisté par le moyen de rassemblement.According to another embodiment, not shown, the movable wall is the lower wall (2c), a cardboard box is placed below the lower wall (2c), its opening, for example by lateral sliding, allows the articles to be unloaded into the cardboard, possibly assisted by the gathering means.

Le dispositif (1) selon l'invention permet l'exécution de deux phases opérationnelles, à savoir une première phase de rassemblement des articles et une seconde phase de déchargement.The device (1) according to the invention allows the execution of two operational phases, namely a first phase of gathering the articles and a second phase of unloading.

La première phase de rassemblement des articles est conduite en direction d'un point zéro de référence (0), dans laquelle la paroi mobile est fermée, à savoir obturant l'espace intérieur du container (2), les articles étant destinés à être positionnés de manière contrainte contre préférentiellement la paroi avant (2a) et avantageusement contre au moins une paroi latérale (2b).The first phase of gathering the articles is carried out towards a zero reference point (0), in which the movable wall is closed, namely closing the interior space of the container (2), the articles being intended to be positioned in a constrained manner preferably against the front wall (2a) and advantageously against at least one side wall (2b).

La seconde phase de déchargement consiste en l'ouverture de la paroi mobile, les articles étant destinés à être convoyés à l'extérieur du container (2) vers l'intérieur d'un carton, par le moyen de rassemblement, avantageusement assisté par un moyen d'entraînement, tel qu'explicité plus en détail dans la suite de la description.The second unloading phase consists of the opening of the movable wall, the articles being intended to be conveyed outside the container (2) towards the inside of a box, by the gathering means, advantageously assisted by a training means, as explained in more detail in the remainder of the description.

Ajoutons que le moyen de rassemblement est destiné à diriger les articles d'une position aléatoire dans l'espace intérieur du container (2), en direction d'un point zéro de référence (0), par exemple l'un des coins du container (2) matérialisé par la jonction de la paroi avant (2a) et de l'une des parois latérales (2b), ou le centre de la paroi avant (2a).Let us add that the gathering means is intended to direct the articles from a random position in the interior space of the container (2), towards a reference zero point ( 0 ), for example one of the corners of the container (2) materialized by the junction of the front wall (2a) and one of the side walls (2b), or the center of the front wall (2a).

Ce rassemblement est réalisé dans le plan de la paroi inférieure (2c) dans les directions orthonormées 0X et 0Y.This gathering is carried out in the plane of the lower wall (2c) in the orthonormal directions 0 X and 0 Y.

Selon une caractéristique préférentielle, le moyen de rassemblement est à géométrie variable, à savoir que les articles sont destinés à évoluer et modifier leurs trajectoires tout au long de leur trajet, de leur position aléatoire de chargement vers leur position de rassemblement en direction du point de zéro de référence (0), en fonction de leur dimensionnement respectif et la variation de configuration du moyen de rassemblement.According to a preferred characteristic, the assembly means has variable geometry, namely that the articles are intended to evolve and modify their trajectories throughout their journey, from their random loading position towards their assembly position towards the point of collection. reference zero ( 0 ), depending on their respective dimensioning and the variation in configuration of the gathering means.

Selon le mode de réalisation illustré, le moyen de rassemblement comprend une bande flexible (3) avantageusement guidée le long d'au moins les parois latérales (2b) du container (2) et avantageusement de la paroi avant (2a).According to the illustrated embodiment, the gathering means comprises a flexible strip (3) advantageously guided along at least the side walls (2b) of the container (2) and advantageously the front wall (2a).

Il est entendu que l'expression bande flexible (3) comprend les termes usuels de courroie, de paroi flexible, de filet, etc.It is understood that the expression flexible strip (3) includes the usual terms of belt, flexible wall, net, etc.

Il est entendu par le terme flexible, un matériau suffisamment souple, de préférence un matériau non élastique.The term flexible means a sufficiently flexible material, preferably a non-elastic material.

Selon les modes de réalisation illustrés, dans la première phase, le dispositif (1) est destiné à adopter deux configurations, à savoir une configuration en attente de chargement, dans laquelle la bande flexible (3) délimite sensiblement la périphérie intérieure du container (2), telle qu'explicité plus en détail dans la suite de la description, et une configuration de rassemblement des articles en direction du point zéro de référence (0).According to the illustrated embodiments, in the first phase, the device (1) is intended to adopt two configurations, namely a configuration awaiting loading, in which the flexible strip (3) substantially delimits the interior periphery of the container (2 ), as explained in more detail in the remainder of the description, and a configuration for gathering the articles towards the zero reference point (0).

Une bande flexible (3) se présente par un parallélogramme de faible épaisseur, comprenant ainsi quatre arêtes, à savoir une arête inférieure destinée à évoluer au niveau de la paroi inférieure, une arête supérieure, et deux arêtes latérales destinées à évoluer en correspondance d'au moins les parois latérales (2b) du container (2), dont les hauteurs des arêtes latérales sont avantageusement destinées à sensiblement coïncider avec celles des parois (2a, 2b, 2d) du container (2). Ces arêtes étant délimitées par deux faces, à savoir une face intérieure destinée au rassemblement des articles, et une face extérieure destinée à évoluer voire épouser, tout du moins en position de chargement des articles, sensiblement les parois latérales (2b), voire la paroi arrière (2d) du container (2).A flexible strip (3) is presented as a thin parallelogram, thus comprising four edges, namely a lower edge intended to evolve at the level of the lower wall, an upper edge, and two lateral edges intended to evolve in correspondence with at least the side walls (2b) of the container (2), the heights of the side edges of which are advantageously intended to substantially coincide with those of the walls (2a, 2b, 2d) of the container (2). These edges being delimited by two faces, namely one interior face intended for gathering the articles, and an exterior face intended to evolve or even marry, at least in the loading position of the articles, substantially the side walls (2b), or even the rear wall (2d) of the container (2).

Selon le mode de réalisation illustré, en position de chargement des articles, telle qu'illustrée à la figure 3, à savoir en position de repos du dispositif (1), les arêtes latérales de la bande flexible (3) coïncident sensiblement avec les arêtes formées par la jonction des parois latérales (2b) et de la paroi avant (2a) du container (2), alors que telles qu'explicitées précédemment, la face extérieure de la bande flexible (3) épouse sensiblement les parois latérales (2b) et avantageusement la paroi arrière (2d) du container (2), la bande flexible (3) délimitant sensiblement la périphérie intérieure du container (2), tout du moins une partie du périmètre intérieur du container (2), à savoir les parties correspondant aux parois latérales (2b) et avantageusement la paroi arrière (2c).According to the illustrated embodiment, in the loading position of the articles, as illustrated in Figure 3 , namely in the rest position of the device (1), the side edges of the flexible strip (3) substantially coincide with the edges formed by the junction of the side walls (2b) and the front wall (2a) of the container (2 ), while as explained previously, the exterior face of the flexible strip (3) substantially matches the side walls (2b) and advantageously the rear wall (2d) of the container (2), the flexible strip (3) substantially delimiting the interior periphery of the container (2), at least part of the interior perimeter of the container (2), namely the parts corresponding to the side walls (2b) and advantageously the rear wall (2c).

Notons qu'au moins une des extrémités latérales de la bande flexible (3), à savoir au moins une des arêtes latérales est reliée à un moyen de traction de la bande flexible (3), de préférence chacune des arêtes latérales est reliée à un moyen de traction.Note that at least one of the lateral ends of the flexible strip (3), namely at least one of the side edges, is connected to a means for pulling the flexible strip (3), preferably each of the side edges is connected to a means of traction.

Selon le mode de réalisation illustré, le moyen de traction de la bande flexible (3) est un moyen d'enroulement (4).According to the illustrated embodiment, the means for pulling the flexible strip (3) is a winding means (4).

Un moyen d'enroulement (4) de la bande flexible (3), selon le mode de réalisation illustré, se présente par un moteur, avantageusement à contrôle de couple.A winding means (4) of the flexible strip (3), according to the illustrated embodiment, is presented by a motor, advantageously with torque control.

Précisons que l'axe de rotation du moteur précité est agencé perpendiculairement à la paroi inférieure (2c) du container (2) à savoir parallèlement aux arêtes formées par les intersections de la paroi avant (2a) et les parois latérales (2b) du container (2).Let us specify that the axis of rotation of the aforementioned motor is arranged perpendicular to the lower wall (2c) of the container (2) namely parallel to the edges formed by the intersections of the front wall (2a) and the side walls (2b) of the container (2).

Selon un mode de réalisation préféré de l'invention, le moyen d'enroulement (4) est un moteur à contrôle de couple, destiné à stopper l'enroulement de la bande flexible (3) lorsqu'une valeur de contrainte déterminée est atteinte, afin d'éviter d'endommager les articles lors du rassemblement en direction du point zéro de référence (0).According to a preferred embodiment of the invention, the winding means (4) is a torque control motor, intended to stop the winding of the flexible strip (3) when a determined stress value is reached, in order to to avoid damaging the items when gathering towards the zero reference point ( 0 ).

Selon une caractéristique, telle qu'illustrée notamment aux figures 4 à 6, l'enroulement de la bande flexible (3) est réalisé par l'extérieur du moyen d'enroulement (4).According to a characteristic, as illustrated in particular in figures 4 to 6 , the winding of the flexible strip (3) is carried out from the outside of the winding means (4).

Selon une caractéristique complémentaire, au moins un des moyens d'enroulement (4) est mobile en translation le long d'au moins la paroi avant (2a), voire également d'une paroi latérale (2b).According to a complementary characteristic, at least one of the winding means (4) is movable in translation along at least the front wall (2a), or also a side wall (2b).

Ainsi, selon le mode de réalisation illustré, un moyen d'enroulement (4) est associé à un moyen de translation (6) le long d'une des parois (2a, 2b) du container (2).Thus, according to the illustrated embodiment, a winding means (4) is associated with a translation means (6) along one of the walls (2a, 2b) of the container (2).

Selon une caractéristique, le moyen de translation (6) du moyen d'entraînement (4) est un moteur linéaire.According to one characteristic, the translation means (6) of the drive means (4) is a linear motor.

Il est entendu qu'un moteur linéaire est un moteur destiné à faire subir à un élément une translation le long d'un trajet déterminé.It is understood that a linear motor is a motor intended to cause an element to undergo translation along a determined path.

A cet effet, les arêtes supérieures du container (2) comprennent des guides (7), tels que des glissières ou tubes de guidage destinés aux déplacements des moyens de translation (6) des moyens d'enroulement (4) et avantageusement des moyens de guidage (5), tels qu'explicités plus en détail dans la suite de la description, par des moyens de roulement appropriés.For this purpose, the upper edges of the container (2) comprise guides (7), such as slides or guide tubes intended for the movements of the translation means (6) of the winding means (4) and advantageously of the means of guidance (5), as explained in more detail in the remainder of the description, by appropriate rolling means.

Notons que les guides (7) précités s'étendent au moins de la paroi arrière (2d), le long des parois latérales (2b) et se prolongent par une courbe vers la paroi avant (2a), permettant au moyen de rassemblement d'évoluer des parois latérales (2b) à la paroi avant (2a) et vice versa.Note that the aforementioned guides (7) extend at least from the rear wall (2d), along the side walls (2b) and extend by a curve towards the front wall (2a), allowing the gathering means to evolve from the side walls (2b) to the front wall (2a) and vice versa.

Selon des caractéristiques complémentaires, les arêtes inférieures du container (2) comprennent également des guides (7) tels que précités, les moyens d'enroulement (4) et avantageusement les moyens de guidage (5), étant dédoublés en opposition par rapport à la bande flexible (3).According to additional characteristics, the lower edges of the container (2) also comprise guides (7) as mentioned above, the winding means (4) and advantageously the guide means (5), being split in opposition to the flexible strip (3).

A titre d'exemple, à chacune des extrémités de la bande flexible (3), à savoir à chacune des arêtes latérales de la bande flexible (3), est fixée deux moyens d'enroulement (4) en opposition, et avantageusement autant de moyens de guidage (5) nécessaire, aux niveaux des arêtes supérieures et inférieures de la bande flexible (3).By way of example, at each of the ends of the flexible strip (3), namely at each of the side edges of the flexible strip (3), two means are fixed winding (4) in opposition, and advantageously as many guiding means (5) as necessary, at the levels of the upper and lower edges of the flexible strip (3).

Selon un mode de réalisation, illustré aux figures 1 à 7, le container (2) comprend au moins un moyen de guidage (5) de la bande flexible (3) destiné à évoluer le long d'au moins une paroi latérale (2) et avantageusement le long de la paroi avant (2a) du container (2).According to one embodiment, illustrated in figures 1 to 7 , the container (2) comprises at least one means of guiding (5) the flexible strip (3) intended to move along at least one side wall (2) and advantageously along the front wall (2a) of the container (2).

Selon le mode de réalisation illustré, les moyens de guidage (5) sont reliés à une paroi (2a, 2b) du container (2) et sont mobile en translation au moins le long de la paroi (2a, 2b) à laquelle le moyen de guidage (5) est connecté.According to the illustrated embodiment, the guide means (5) are connected to a wall (2a, 2b) of the container (2) and are movable in translation at least along the wall (2a, 2b) to which the means guide (5) is connected.

Un moyen de guidage (5) maintient la bande flexible (3) au niveau de sa connexion au moyen de guidage (5), le long de la paroi (2a, 2b) à laquelle le moyen de guidage (5) est relié.A guide means (5) holds the flexible strip (3) at its connection to the guide means (5), along the wall (2a, 2b) to which the guide means (5) is connected.

Selon un mode de réalisation, tel qu'illustré notamment aux figures 1 et 2, un moyen de guidage (5) se présente par une première partie (5a) de connexion au guide (7) précité, mobile en coulissement, prolongé par une seconde partie (5b) de connexion à la bande flexible (3), la seconde partie (5b) étant connectée par une articulation à la première partie (5a) de connexion, mais il pourrait en être autrement, la seconde partie (5b) de connexion étant flexible.According to one embodiment, as illustrated in particular in figures 1 and 2 , a guide means (5) is presented by a first part (5a) for connection to the aforementioned guide (7), movable in sliding, extended by a second part (5b) for connection to the flexible strip (3), the second part (5b) being connected by a hinge to the first connection part (5a), but it could be otherwise, the second connection part (5b) being flexible.

Selon le mode de réalisation précédent, la seconde partie (5b) de connexion reliée par une articulation à la première partie (5a), permet qu'en position de déchargement, telle qu'explicité plus en détail dans la suite de la description, la bande flexible (3) soit parallèle et au plus proche de la paroi avant (2a), telle qu'illustré à la figure 2, afin de permettre l'éjection des articles à l'extérieur du container (2).According to the previous embodiment, the second connection part (5b) connected by a hinge to the first part (5a), allows that in the unloading position, as explained in more detail in the remainder of the description, the flexible strip (3) is parallel and closest to the front wall (2a), as illustrated in figure 2 , in order to allow the ejection of the articles outside the container (2).

Selon un mode d'exécution, les moyens de guidage (5) de la bande flexible (3) sont portés par un second jeu de guides agencés au-dessus des guides (7) d'au moins un moyen d'enroulement (4). Cette configuration permet également qu'en position de déchargement, la bande flexible (3) puisse être positionnée parallèlement et au plus proche de la paroi avant (2a).According to one embodiment, the guide means (5) of the flexible strip (3) are carried by a second set of guides arranged above the guides (7) of at least one winding means (4) . This configuration also allows that in the unloading position, the flexible strip (3) can be positioned parallel and as close as possible to the front wall (2a).

Notons que la bande flexible (3) est libre en déplacement dans le moyen de guidage (5).Note that the flexible strip (3) is free to move in the guide means (5).

La traction de la bande flexible (3) par le moyen d'enroulement (4) relié à l'une de ses extrémités, enroule la bande flexible (3) autour de ce dernier et entraîne ainsi le moyen de guidage (5) le long de la paroi (2a, 2b) correspondante.The traction of the flexible strip (3) by the winding means (4) connected to one of its ends, wraps the flexible strip (3) around the latter and thus drives the guide means (5) along of the corresponding wall (2a, 2b).

Précisons que la bande flexible (3) étant tractée sous contrainte dans le moyen d'enroulement (4), la bande flexible (3) coulisse dans le moyen de guidage (5) et entraîne ce dernier dans son déplacement en direction du point zéro de référence (0).Let us specify that the flexible strip (3) being pulled under stress in the winding means (4), the flexible strip (3) slides in the guide means (5) and causes the latter in its movement towards the zero point of reference ( 0 ).

Il est entendu que les déplacements de la bande flexible (3), des moyens d'enroulement (4) et des moyens de guidage (5) sont limités par les articles à rassembler.It is understood that the movements of the flexible strip (3), the winding means (4) and the guide means (5) are limited by the articles to be collected.

Selon un mode de réalisation, le moyen de guidage (5) est un système passif, mobile selon la traction de la bande flexible (3).According to one embodiment, the guide means (5) is a passive system, movable according to the traction of the flexible strip (3).

Selon le mode de réalisation précédent, le retour en position de repos du dispositif (1), à savoir dans une position de chargement du container (2), est réalisé par un moyen de rappel.According to the previous embodiment, the return to the rest position of the device (1), namely in a loading position of the container (2), is achieved by a return means.

Selon un mode de réalisation, non représenté, un moyen de rappel est un câble fixé à la surface arrière de la bande flexible (3), entraîné par un moyen d'enroulement localisé au niveau de la paroi arrière (2d) du container (2). La mise en fonctionnement du moyen de rappel, dans la position de déchargement du container (2), entraîne le déroulement de la bande flexible (3) jusqu'à la périphérie intérieure du container (2).According to one embodiment, not shown, a return means is a cable fixed to the rear surface of the flexible strip (3), driven by a winding means located at the rear wall (2d) of the container (2 ). The activation of the return means, in the unloading position of the container (2), causes the flexible strip (3) to unwind to the interior periphery of the container (2).

Selon un mode de réalisation préféré, le moyen de guidage (5) est un système actif en déplacement, tel qu'un moteur linéaire.According to a preferred embodiment, the guide means (5) is an active moving system, such as a linear motor.

Selon le mode de réalisation précédent, dans le mode de fonctionnement du moyen de rassemblement, le moyen de guidage (5) est passif et est entraîné en translation par la traction de la bande flexible (3), mais il pourrait en être autrement, le moteur linéaire est mis en fonctionnement pour contribuer au déplacement de la bande flexible (3) afin de rassembler les articles en direction du point zéro de référence (0), tandis que le retour à la position de repos du dispositif (1) est réalisé par la mise en fonctionnement des moyens de guidage (5) afin de repositionner la bande flexible (3) dans la position de repos du dispositif (1), en attente de chargement.According to the previous embodiment, in the operating mode of the gathering means, the guide means (5) is passive and is driven in translation by the traction of the flexible strip (3), but it could be otherwise, the linear motor is put into operation to contribute to the movement of the flexible belt (3) in order to gather the articles in the direction from the reference zero point ( 0 ), while the return to the rest position of the device (1) is achieved by putting the guide means (5) into operation in order to reposition the flexible strip (3) in the position of rest of the device (1), waiting for loading.

Précisons que le repositionnement de la bande flexible (3) vers la périphérie intérieure du container (2) est réalisé par la traction de cette dernière, par la translation des moyens de guidage (5) le long des guides (7).Let us specify that the repositioning of the flexible strip (3) towards the interior periphery of the container (2) is carried out by the traction of the latter, by the translation of the guide means (5) along the guides (7).

Selon le mode de réalisation précédent, un moyen de guidage (5) actif permet une cadence élevée de chargement et de déchargement des articles.According to the previous embodiment, an active guiding means (5) allows a high rate of loading and unloading of articles.

Selon un autre mode de réalisation, tel qu'illustré aux figures 8 à 10, le dispositif (1) ne comprend pas de moyens de guidage (5) de la bande flexible (3).According to another embodiment, as illustrated in figures 8 to 10 , the device (1) does not include guide means (5) of the flexible strip (3).

Selon le mode de réalisation précédent, la bande flexible (3) est suffisamment rigide afin que le déroulement de la bande flexible (3) par les moyens d'enroulement (4), permettent à la bande flexible (3) de retourner à sa position en attente de chargement, à savoir que la bande flexible (3) puisse adopter sensiblement la périphérie intérieure du container (2).According to the previous embodiment, the flexible strip (3) is sufficiently rigid so that the unwinding of the flexible strip (3) by the winding means (4), allows the flexible strip (3) to return to its position waiting for loading, namely that the flexible strip (3) can substantially adopt the interior periphery of the container (2).

Selon un autre mode de réalisation, le dispositif (1), qui ne comprend pas de moyens de guidage (5), comprend par ailleurs un moyen de rappel de la bande flexible (3), tel qu'explicité précédemment, contribuant au retour du dispositif (1) dans la position de repos en attente de chargement.According to another embodiment, the device (1), which does not comprise guide means (5), also comprises a means for returning the flexible strip (3), as explained previously, contributing to the return of the device (1) in the rest position waiting for loading.

Selon une caractéristique supplémentaire, la paroi inférieure (2c) est munie d'un moyen d'entraînement, non représenté, destiné à contribuer au déplacement des articles en direction de la paroi avant (2a), afin de faciliter le rassemblement des articles en direction du point zéro de référence (0) et contribuer au déchargement des articles lorsque l'une des parois (2a, 2c) du container (2) est ouverte en regard d'un carton.According to an additional characteristic, the lower wall (2c) is provided with a drive means, not shown, intended to contribute to the movement of the articles in the direction of the front wall (2a), in order to facilitate the gathering of the articles in the direction from the zero reference point (0) and contribute to the unloading of the articles when one of the walls (2a, 2c) of the container (2) is open facing a box.

Selon la caractéristique précédente, le moyen d'entraînement est un convoyeur à bande ou à rouleau, entraînant les articles de manière unidirectionnelle vers la paroi avant (2a) du container (2).According to the preceding characteristic, the drive means is a belt or roller conveyor, driving the articles unidirectionally towards the front wall (2a) of the container (2).

Selon le mode de réalisation illustré aux figures 1 à 7, le dispositif (1) comprend deux moyens d'enroulement (4) agencés chacun aux extrémités de la bande flexible (3) et deux moyens de guidage (5).According to the embodiment illustrated in figures 1 to 7 , the device (1) comprises two winding means (4) each arranged at the ends of the flexible strip (3) and two guide means (5).

Selon le mode de réalisation précédent, au moins un des moyens d'enroulement (4) est mobile en translation le long de la paroi avant (2a) et avantageusement également le long d'une paroi latérale (2b).According to the previous embodiment, at least one of the winding means (4) is movable in translation along the front wall (2a) and advantageously also along a side wall (2b).

Selon un autre mode de réalisation, un des deux moyens d'enroulement (4) est mobile en translation le long d'au moins la paroi avant (2a), tandis que l'autre est fixe en translation et localisé à l'intersection de la paroi avant (2a) avec l'une des parois latérales (2b).According to another embodiment, one of the two winding means (4) is movable in translation along at least the front wall (2a), while the other is fixed in translation and located at the intersection of the front wall (2a) with one of the side walls (2b).

Selon un mode d'exécution, non représenté, le dispositif (1) comprend un moyen d'enroulement (4) mobile en translation et deux moyens de guidage (5), tandis qu'une extrémité de la bande flexible (3) est fixé à une des intersections de la paroi avant (2a) avec l'une des parois latérales (2b).According to one embodiment, not shown, the device (1) comprises a winding means (4) movable in translation and two guide means (5), while one end of the flexible strip (3) is fixed at one of the intersections of the front wall (2a) with one of the side walls (2b).

Selon un autre mode d'exécution, non représenté, le dispositif (1) comprend un moyen d'enroulement (4) fixe à une des intersections de la paroi avant (2a) avec l'une des parois latérales (2b), tandis que l'autre extrémité de la bande flexible (3) est reliée à un moyen de guidage (5) actif.According to another embodiment, not shown, the device (1) comprises a winding means (4) fixed at one of the intersections of the front wall (2a) with one of the side walls (2b), while the other end of the flexible strip (3) is connected to an active guide means (5).

Selon le mode de réalisation illustré aux figures 8 à 10, le dispositif (1) comprend deux moyens d'enroulement (4) agencés chacun aux extrémités de la bande flexible (3).According to the embodiment illustrated in figures 8 to 10 , the device (1) comprises two winding means (4) each arranged at the ends of the flexible strip (3).

Selon le mode de réalisation précédent, les moyens d'enroulement (4) sont mobiles en translation le long de la paroi avant (2a) et avantageusement également le long d'une paroi latérale (2b).According to the previous embodiment, the winding means (4) are movable in translation along the front wall (2a) and advantageously also along a side wall (2b).

Notons également que le dispositif (1) comprend une unité de mesure et de traitement des écartements des différents éléments le constituant.Note also that the device (1) includes a unit for measuring and processing the spacings of the different elements constituting it.

Rappelons que le dispositif (1) est destiné à déterminer une taille de carton correspondant à l'espace occupé par les articles rassemblés en direction du point zéro de référence (0).Remember that the device (1) is intended to determine a cardboard size corresponding to the space occupied by the articles collected in the direction of the zero reference point ( 0 ).

Considérons que les dimensions d'un carton sont représentées par sa largeur, sa longueur et sa hauteur ou profondeur.Consider that the dimensions of a box are represented by its width, length and height or depth.

Selon une possibilité offerte par l'invention, la paroi mobile est la paroi avant (2a), une fois les articles rassemblés en direction du point zéro de référence (0), le volume des articles rassemblés est déterminé tel qu'explicité plus en détail dans la suite de la description. Un carton, ayant un dimensionnement correspondant au volume des articles rassemblés, est positionné sur un de ses flans en regard de la paroi avant (2a). La paroi avant est ensuite ouverte, pour le déchargement des articles dans le carton.According to one possibility offered by the invention, the movable wall is the front wall (2a), once the articles are gathered in the direction of the zero reference point ( 0 ), the volume of the articles gathered is determined as explained in more detail. in the remainder of the description. A box, having a dimension corresponding to the volume of the items collected, is positioned on one of its blanks facing the front wall (2a). The front wall is then opened, for unloading the items into the box.

Ainsi, l'espace occupé par les articles rassemblés en direction du point zéro de référence (0), peut être déterminé par l'écartement des deux extrémités de la bande flexible (3) correspondant ainsi à longueur du carton, l'écartement le plus grand entre une extrémité de la bande flexible (3) et un moyen de guidage (5) le long d'une paroi latérale (2a), correspond ainsi à la hauteur ou profondeur du carton, alors que la largeur du carton est déterminée par la plus grande hauteur des articles à rassembler.Thus, the space occupied by the articles gathered in the direction of the zero reference point ( 0 ), can be determined by the spacing of the two ends of the flexible strip (3) thus corresponding to the length of the cardboard, the spacing most large between one end of the flexible strip (3) and a guide means (5) along a side wall (2a), thus corresponds to the height or depth of the cardboard, while the width of the cardboard is determined by the greater height of the items to be collected.

Précisons que la plus grande hauteur des articles à rassembler peut être déterminée par un capteur approprié, communément utilisé dans le domaine de la mécatronique, tel qu'un capteur de distance.It should be noted that the greatest height of the items to be collected can be determined by an appropriate sensor, commonly used in the field of mechatronics, such as a distance sensor.

Afin d'expliciter ces dernières caractéristiques, faisons référence aux figures 4 à 6, qui illustrent de manière schématique, des espaces de rassemblement des articles respectivement annotés E1, E2, E3.In order to explain these latter characteristics, let us refer to the figures 4 to 6 , which schematically illustrate spaces for bringing together articles respectively annotated E1, E2, E3.

Dans la configuration de rassemblement E1, la longueur du carton est déterminée par l'écartement des extrémités de la bande flexible (3), à savoir des écartements des deux moyens d'enroulement (4) le long de la paroi avant (2a), tandis que la hauteur du carton est déterminée par l'écartement entre l'extrémité de la bande flexible (3) et le moyen de guidage (5), tous deux localisés sur une paroi latérale (2b).In the assembly configuration E1, the length of the cardboard is determined by the spacing of the ends of the flexible strip (3), namely the spacings of the two winding means (4) along the front wall (2a), while the height of the cardboard is determined by the spacing between the end of the flexible strip (3) and the guide means (5), both located on a side wall (2b).

Notons que dans la configuration E1, un moyen d'enroulement (4) et le moyen de guidage (5) agencé en correspondance, sont adjacents et localisés au niveau de la paroi avant (2a), tandis que le second moyen d'enroulement (4) est localisé à l'intersection de la paroi avant (2a) et la paroi latérale (2b) agencée en correspondance.Note that in configuration E1, a winding means (4) and the guide means (5) arranged in correspondence, are adjacent and located at the level of the front wall (2a), while the second winding means ( 4) is located at the intersection of the front wall (2a) and the side wall (2b) arranged in correspondence.

Dans les configurations de rassemblement E2 et E3, la longueur du carton est déterminée par les extrémités de la bande flexible (3) qui sont localisées aux intersections de la face avant (2a) avec les parois latérales (2b), tandis que la hauteur du carton est déterminée par le plus grand écartement entre une extrémité de la bande flexible (3) et un moyen de guidage (5) localisés tous deux sur une même paroi latérale (2b).In the assembly configurations E2 and E3, the length of the cardboard is determined by the ends of the flexible strip (3) which are located at the intersections of the front face (2a) with the side walls (2b), while the height of the cardboard is determined by the greatest spacing between one end of the flexible strip (3) and a guide means (5) both located on the same side wall (2b).

Selon une autre possibilité offerte par l'invention, la paroi mobile est la paroi inférieure (2c), une fois les articles rassemblés en direction du point zéro de référence (0), au vu de la détermination du volume des articles rassemblés, un carton, ayant un dimensionnement correspondant au volume des articles rassemblés, est positionné en dessous de la paroi inférieure (2c).According to another possibility offered by the invention, the movable wall is the lower wall (2c), once the articles have been collected in the direction of the zero reference point ( 0 ), in view of the determination of the volume of the articles collected, a cardboard , having a dimension corresponding to the volume of the articles collected, is positioned below the bottom wall (2c).

Ainsi, la hauteur du carton est déterminée par la plus grande hauteur des articles, la longueur est déterminée par l'écartement des extrémités de la bande flexible (3), et la largeur du carton est déterminée par le plus grand écartement entre une extrémité de la bande flexible (3) et un moyen de guidage (5) localisés tous deux sur une même paroi latérale (2b).Thus, the height of the carton is determined by the greatest height of the articles, the length is determined by the spacing of the ends of the flexible strip (3), and the width of the carton is determined by the greatest spacing between one end of the flexible strip (3) and a guide means (5) both located on the same side wall (2b).

Selon une autre possibilité offerte par l'invention, les dimensions du carton à positionner sont déterminés par des capteurs de distance, par exemple localisés au niveau des parois latérales (2b) et avantageusement au niveau de la paroi arrière (2c), voire à l'aplomb du dispositif (1), afin de déterminer le volume des articles rassemblés par le moyen de rassemblement.According to another possibility offered by the invention, the dimensions of the cardboard to be positioned are determined by distance sensors, for example located at the level of the side walls (2b) and advantageously at the level of the rear wall (2c), or even at the level of the rear wall (2c). the plumbness of the device (1), in order to determine the volume of the articles collected by the gathering means.

Le déchargement des articles dans un carton est réalisé par le blocage en translation des moyens d'enroulement (4), la mise sous tension de la bande flexible (3) et l'enroulement maximale de la bande flexible (3), qui entraîne les articles dans le carton par la paroi ouverte du container (2), éventuellement assistée par le moyen d'entraînement.The unloading of the articles in a carton is carried out by blocking the translation of the winding means (4), tensioning the flexible strip (3) and maximum winding of the flexible strip (3), which drives the articles in the carton by the open wall of the container (2), possibly assisted by the drive means.

Précisons qu'au vu du déchargement des articles à l'extérieur du container (2), la bande flexible (3) est enroulée jusqu'à ce qu'elle soit tendue entre les moyens d'enroulement (4) ou entre un moyen d'enroulement (4) et une jonction de la paroi avant (2a) et d'une paroi latérale (2b), agencées en opposition du moyen d'enroulement (4) précité.Let us specify that in view of the unloading of the articles outside the container (2), the flexible strip (3) is wound until it is stretched between the winding means (4) or between a means of winding (4) and a junction of the front wall (2a) and a side wall (2b), arranged in opposition to the aforementioned winding means (4).

La mise en fonctionnement du dispositif (1) selon l'invention va être explicité plus en détail ci-après, par le procédé de mise en oeuvre du dispositif (1) selon l'invention.The operation of the device (1) according to the invention will be explained in more detail below, by the method of implementing the device (1) according to the invention.

Ainsi, l'invention concerne également un procédé de rassemblement et de déchargement d'articles, par un dispositif (1) comprenant un container (2) ouvert sur sa paroi supérieure, comprenant une paroi avant (2a), adjacente à deux parois latérales (2b) et une paroi inférieure (2c), dont l'une des parois est mobile, destinée au déchargement des articles dans un carton.Thus, the invention also relates to a method of gathering and unloading articles, by a device (1) comprising a container (2) open on its upper wall, comprising a front wall (2a), adjacent to two side walls ( 2b) and a lower wall (2c), one of the walls of which is movable, intended for unloading the articles into a carton.

Notons que le dispositif (1) comprend une bande flexible (3) reliée à au moins une de ses extrémités latérales à un moyen d'enroulement (4) guidé le long d'au moins la paroi avant (2a).Note that the device (1) comprises a flexible strip (3) connected at least one of its lateral ends to a winding means (4) guided along at least the front wall (2a).

Précisons que la bande flexible (3) peut au moins adopter deux positions, à savoir une position en attente de chargement, la bande flexible (3) étant localisée sensiblement à la périphérie intérieure du container (2), et une position de rassemblement des articles, dans laquelle ses extrémités latérales sont localisées le long de la paroi avant (2a), les articles étant rassemblés sous contrainte contre sa surface intérieure.Let us specify that the flexible strip (3) can adopt at least two positions, namely a position waiting for loading, the flexible strip (3) being located substantially at the inner periphery of the container (2), and a position for gathering the articles. , in which its lateral ends are located along the front wall (2a), the articles being gathered under stress against its interior surface.

Le procédé de rassemblement et de déchargement d'articles comprend les étapes suivantes :

  • mise du dispositif (1) dans une position en attente de chargement, dans laquelle la bande flexible (3) est localisée sensiblement à la périphérie intérieure du container (2), à savoir le long des parois latérales (2b) et avantageusement le long de la paroi arrière (2d), ses extrémités latérales étant avantageusement positionnées au niveau de la paroi avant (2a) du container (2),
  • chargement d'articles, avantageusement de manière aléatoire, dans la périphérie intérieure de la bande flexible (3),
  • mise en fonctionnement du moyen d'enroulement (4), afin de rassembler les articles en direction d'un point zéro de référence (0), les articles étant mis sous contrainte contre la surface intérieure de la bande flexible (3),
  • ouverture de la paroi mobile du container (2),
  • mise en fonctionnement du moyen d'enroulement (4), afin de tendre la bande flexible (3) et de décharger les articles en direction de la paroi ouverte du container (2),
The method of gathering and unloading articles includes the following steps:
  • placing the device (1) in a position awaiting loading, in which the flexible strip (3) is located substantially at the interior periphery of the container (2), namely along the side walls (2b) and advantageously along the rear wall (2d), its lateral ends being advantageously positioned at the level of the front wall (2a) of the container (2),
  • loading of articles, advantageously randomly, in the interior periphery of the flexible strip (3),
  • putting the winding means (4) into operation, in order to bring the articles together in the direction of a zero reference point ( 0 ), the articles being placed under stress against the interior surface of the flexible strip (3),
  • opening of the movable wall of the container (2),
  • putting the winding means (4) into operation, in order to tension the flexible strip (3) and unload the articles towards the open wall of the container (2),

Selon un mode de réalisation, la paroi mobile est la paroi avant (2a), les extrémités latérales de la bande flexible (3) étant positionnées le long de la paroi avant (2a) préalablement à l'ouverture de la paroi avant (2a) mobile.According to one embodiment, the movable wall is the front wall (2a), the lateral ends of the flexible strip (3) being positioned along the front wall (2a) prior to the opening of the front wall (2a). mobile.

Selon un autre mode de réalisation, la paroi mobile est la paroi inférieure (2c).According to another embodiment, the movable wall is the lower wall (2c).

Selon une étape intermédiaire, préalablement à l'ouverture de la paroi mobile, un carton est positionné en regard de la paroi mobile, le dimensionnement du carton étant sélectionné selon le volume des articles rassemblés par la bande flexible (3).According to an intermediate step, prior to opening the movable wall, a cardboard box is positioned opposite the movable wall, the dimensioning of the box being selected according to the volume of the articles gathered by the flexible strip (3).

Claims (11)

  1. A device (1) for gathering and unloading items, comprising:
    - a container (2) open on its upper wall, comprising a front wall (2a), adjacent to two lateral walls (2b) and a lower wall (2c), whose one of the walls is movable and intended for unloading the items in a cardboard box,
    - a means of gathering with variable geometry of the items in the direction of a zero-reference point (0), in the plane of the lower wall, in the orthonormal directions (OX, OY), the means being able to evolve and modify the trajectories of the items according to the orthonormal directions (OX, OY) towards the reference point (0), according to their respective dimensions.
  2. The device (1) according to claim 1, characterized in that the gathering means comprises a flexible strip (3).
  3. The device (1) according to the preceding claim, characterized in that at least one end of the flexible strip (3) is connected to a winding means (4) of the flexible strip (3).
  4. The device (1) according to claim 3, characterized in that the flexible strip (3) is guided along at least the lateral walls (2b), freely connected by guide means (5) movable in translation along at least the lateral walls (2b).
  5. The device (1) according to the preceding claim, characterized in that the winding means (4) is movable at least along the front wall (2a).
  6. The device (1) according to claim 5, characterized in that the winding means (4) is a torque control motor.
  7. The device (1) according to any one of claims 3 to 6, characterized in that each of the ends of the flexible strip (3) is connected to a winding means (4).
  8. The device (1) according to any one of claims 4 to 7, characterized in that the guide means (5) are linear motors.
  9. The device (1) according to any one of the preceding claims, characterized in that the movable wall is the front wall (2a).
  10. The device according to any one of the preceding claims, characterized in that the lower wall (2c) comprises a drive means intended to contribute to the displacement of the items.
  11. A method for gathering and unloading items, comprising the following steps:
    - Random positioning of items in a container (2) open on its upper wall, comprising a front wall (2a), adjacent to two lateral walls (2b) and a lower wall (2c), whose one of the walls is movable, said container (2) comprising a flexible strip (3),
    - Gathering the items at a zero-reference point (0), by winding the flexible strip (3) connected to at least one of its ends to a winding means (4),
    - Determining the size occupied by the items gathered by the flexible strip (3),
    - Determining a cardboard box size corresponding to the size occupied by the gathered items,
    - Positioning the cardboard box next to the movable wall,
    - Opening the movable wall,
    - Resumption of the winding of the flexible strip (3), in such a way as to unload the items from the container (2) into the cardboard box.
EP19794913.4A 2018-10-19 2019-10-17 Device and method for collating and loading articles Active EP3867157B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1871221A FR3087427B1 (en) 2018-10-19 2018-10-19 DEVICE AND PROCEDURE FOR COLLECTING AND UNLOADING ITEMS
PCT/EP2019/078292 WO2020079192A1 (en) 2018-10-19 2019-10-17 Device and method for collating and loading articles

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EP3867157A1 EP3867157A1 (en) 2021-08-25
EP3867157C0 EP3867157C0 (en) 2024-04-10
EP3867157B1 true EP3867157B1 (en) 2024-04-10

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US (1) US11820541B2 (en)
EP (1) EP3867157B1 (en)
JP (1) JP7367012B2 (en)
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CA (1) CA3114195A1 (en)
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FR3131736B1 (en) 2022-01-07 2024-02-23 Gp System TRANSFER BOX OF ITEMS IN A BOX

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EP3867157A1 (en) 2021-08-25
FR3087427B1 (en) 2021-01-22
CN112839872A (en) 2021-05-25
US11820541B2 (en) 2023-11-21
WO2020079192A1 (en) 2020-04-23
EP3867157C0 (en) 2024-04-10
JP7367012B2 (en) 2023-10-23
FR3087427A1 (en) 2020-04-24
BR112021007319A2 (en) 2021-07-20
CA3114195A1 (en) 2020-04-23
CN112839872B (en) 2022-11-11
JP2022505227A (en) 2022-01-14

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